Added

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

makefiles/linux/config_linux_default.mk

@@ -10,7 +10,7 @@
 #
 # Board support modules
 #
-#MODULES		+= drivers/device
+MODULES		+= drivers/device
 #MODULES		+= modules/sensors
 
 #
@@ -55,4 +55,5 @@ MODULES		+= lib/geo_lookup
 #
 MODULES		+= platforms/linux/px4_layer
 MODULES		+= platforms/linux/hello
+MODULES		+= platforms/linux/vcdev_test
 

src/drivers/device/module.mk

@@ -35,8 +35,15 @@
 # Build the device driver framework.
 #
 
-SRCS		= cdev.cpp \
+#ifeq ($(PX4_TARGET_OS),nuttx)
+SRCS =		  \
 		  device.cpp \
+		  cdev.cpp \
 		  i2c.cpp \
 		  pio.cpp \
 		  spi.cpp
+#endif
+#ifeq ($(PX4_TARGET_OS),linux)
+SRCS =		  vcdev.cpp \
+		  vdevice.cpp 
+#endif

src/drivers/device/vdevice.cpp

@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file device.cpp
+ *
+ * Fundamental driver base class for the virtual device framework.
+ */
+
+#include "device.h"
+
+#include <px4_defines.h>
+#include <stdio.h>
+#include <unistd.h>
+
+namespace device
+{
+
+Device::Device(const char *name) :
+	// public
+	// protected
+	_name(name),
+	_debug_enabled(true)
+{
+	sem_init(&_lock, 0, 1);
+        
+	/* setup a default device ID. When bus_type is UNKNOWN the
+	   other fields are invalid */
+	_device_id.devid = 0;
+	_device_id.devid_s.bus_type = DeviceBusType_UNKNOWN;
+	_device_id.devid_s.bus = 0;
+	_device_id.devid_s.address = 0;
+	_device_id.devid_s.devtype = 0;
+}
+
+Device::~Device()
+{
+	sem_destroy(&_lock);
+}
+
+int
+Device::init()
+{
+	int ret = OK;
+
+	return ret;
+}
+
+void
+Device::log(const char *fmt, ...)
+{
+	va_list	ap;
+
+	printf("[%s] ", _name);
+	va_start(ap, fmt);
+	vprintf(fmt, ap);
+	va_end(ap);
+	printf("\n");
+	fflush(stdout);
+}
+
+void
+Device::debug(const char *fmt, ...)
+{
+	va_list	ap;
+
+	if (_debug_enabled) {
+		printf("<%s> ", _name);
+		va_start(ap, fmt);
+		vprintf(fmt, ap);
+		va_end(ap);
+		printf("\n");
+		fflush(stdout);
+	}
+}
+
+} // namespace device

src/drivers/device/vdevice.h

@@ -0,0 +1,496 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vdevice.h
+ *
+ * Definitions for the generic base classes in the virtual device framework.
+ */
+
+#pragma once 
+
+/*
+ * Includes here should only cover the needs of the framework definitions.
+ */
+#include <px4_posix.h>
+
+#include <errno.h>
+#include <stdbool.h>
+#include <stdio.h>
+#include <stddef.h>
+#include <stdint.h>
+#include <semaphore.h>
+
+/**
+ * Namespace encapsulating all device framework classes, functions and data.
+ */
+namespace device __EXPORT
+{
+
+#define  PX4_F_RDONLY 1
+#define  PX4_F_WRONLY 2
+
+struct px4_dev_handle_t {
+	int fd;
+	int flags;
+	void *priv;
+	void *cdev;
+
+	px4_dev_handle_t() : fd(-1), flags(0), priv(NULL), cdev(NULL) {}
+	px4_dev_handle_t(int f, void *c, int d) : fd(d), flags(f), priv(NULL), cdev(c) {}
+};
+
+/**
+ * Fundamental base class for all device drivers.
+ *
+ * This class handles the basic "being a driver" things, including
+ * interrupt registration and dispatch.
+ */
+class __EXPORT Device
+{
+public:
+	/**
+	 * Destructor.
+	 *
+	 * Public so that anonymous devices can be destroyed.
+	 */
+	virtual ~Device();
+
+	/*
+	 * Direct access methods.
+	 */
+
+	/**
+	 * Initialise the driver and make it ready for use.
+	 *
+	 * @return	OK if the driver initialized OK, negative errno otherwise;
+	 */
+	virtual int	init();
+
+	/*
+	  device bus types for DEVID
+	 */
+	enum DeviceBusType {
+		DeviceBusType_UNKNOWN = 0,
+		DeviceBusType_I2C     = 1,
+		DeviceBusType_SPI     = 2,
+		DeviceBusType_UAVCAN  = 3,
+	};
+
+	/*
+	  broken out device elements. The bitfields are used to keep
+	  the overall value small enough to fit in a float accurately,
+	  which makes it possible to transport over the MAVLink
+	  parameter protocol without loss of information.
+	 */
+	struct DeviceStructure {
+		enum DeviceBusType bus_type:3;
+		uint8_t bus:5;     // which instance of the bus type
+		uint8_t address;   // address on the bus (eg. I2C address)
+		uint8_t devtype;   // device class specific device type
+	};
+
+	union DeviceId {
+		struct DeviceStructure devid_s;
+		uint32_t devid;
+	};
+
+protected:
+	const char	*_name;			/**< driver name */
+	bool		_debug_enabled;		/**< if true, debug messages are printed */
+	union DeviceId	_device_id;             /**< device identifier information */
+
+	/**
+	 * Constructor
+	 *
+	 * @param name		Driver name
+	 * @param irq		Interrupt assigned to the device.
+	 */
+	Device(const char *name);
+
+	/**
+	 * Take the driver lock.
+	 *
+	 * Each driver instance has its own lock/semaphore.
+	 *
+	 * Note that we must loop as the wait may be interrupted by a signal.
+	 */
+	void		lock() {
+		log("lock");
+		do {} while (sem_wait(&_lock) != 0);
+	}
+
+	/**
+	 * Release the driver lock.
+	 */
+	void		unlock() {
+		log("unlock");
+		sem_post(&_lock);
+	}
+
+	/**
+	 * Log a message.
+	 *
+	 * The message is prefixed with the driver name, and followed
+	 * by a newline.
+	 */
+	void		log(const char *fmt, ...);
+
+	/**
+	 * Print a debug message.
+	 *
+	 * The message is prefixed with the driver name, and followed
+	 * by a newline.
+	 */
+	void		debug(const char *fmt, ...);
+
+private:
+	sem_t		_lock;
+
+	/** disable copy construction for this and all subclasses */
+	Device(const Device &);
+
+	/** disable assignment for this and all subclasses */
+	Device &operator = (const Device &);
+};
+
+/**
+ * Abstract class for any character device
+ */
+class __EXPORT CDev : public Device
+{
+public:
+	/**
+	 * Constructor
+	 *
+	 * @param name		Driver name
+	 * @param devname	Device node name
+	 */
+	CDev(const char *name, const char *devname);
+
+	/**
+	 * Destructor
+	 */
+	virtual ~CDev();
+
+	virtual int	init();
+
+	/**
+	 * Perform a poll setup/teardown operation. Based on NuttX implementation.
+	 *
+	 * This is handled internally and should not normally be overridden.
+	 *
+	 * @param handlep	Pointer to the internal file structure.
+	 * @param fds		Poll descriptor being waited on.
+	 * @param setup		True if this is establishing a request, false if
+	 *			it is being torn down.
+	 * @return		OK on success, or -errno otherwise.
+	 */
+	virtual int	poll(px4_dev_handle_t *handlep, px4_pollfd_struct_t *fds, bool setup);
+
+	/**
+	 * Test whether the device is currently open.
+	 *
+	 * This can be used to avoid tearing down a device that is still active.
+	 * Note - not virtual, cannot be overridden by a subclass.
+	 *
+	 * @return              True if the device is currently open.
+	 */
+	bool            is_open() { return _open_count > 0; }
+
+	/**
+	 * Handle an open of the device.
+	 *
+	 * This function is called for every open of the device. The default
+	 * implementation maintains _open_count and always returns OK.
+	 *
+	 * @param handlep		Pointer to the NuttX file structure.
+	 * @return		OK if the open is allowed, -errno otherwise.
+	 */
+	virtual int	open(px4_dev_handle_t *handlep);
+
+	/**
+	 * Handle a close of the device.
+	 *
+	 * This function is called for every close of the device. The default
+	 * implementation maintains _open_count and returns OK as long as it is not zero.
+	 *
+	 * @param handlep		Pointer to the NuttX file structure.
+	 * @return		OK if the close was successful, -errno otherwise.
+	 */
+	virtual int	close(px4_dev_handle_t *handlep);
+
+	/**
+	 * Perform a read from the device.
+	 *
+	 * The default implementation returns -ENOSYS.
+	 *
+	 * @param handlep		Pointer to the NuttX file structure.
+	 * @param buffer	Pointer to the buffer into which data should be placed.
+	 * @param buflen	The number of bytes to be read.
+	 * @return		The number of bytes read or -errno otherwise.
+	 */
+	virtual ssize_t	read(px4_dev_handle_t *handlep, char *buffer, size_t buflen);
+
+	/**
+	 * Perform a write to the device.
+	 *
+	 * The default implementation returns -ENOSYS.
+	 *
+	 * @param handlep		Pointer to the NuttX file structure.
+	 * @param buffer	Pointer to the buffer from which data should be read.
+	 * @param buflen	The number of bytes to be written.
+	 * @return		The number of bytes written or -errno otherwise.
+	 */
+	virtual ssize_t	write(px4_dev_handle_t *handlep, const char *buffer, size_t buflen);
+
+	/**
+	 * Perform a logical seek operation on the device.
+	 *
+	 * The default implementation returns -ENOSYS.
+	 *
+	 * @param handlep		Pointer to the NuttX file structure.
+	 * @param offset	The new file position relative to whence.
+	 * @param whence	SEEK_OFS, SEEK_CUR or SEEK_END.
+	 * @return		The previous offset, or -errno otherwise.
+	 */
+	virtual off_t	seek(px4_dev_handle_t *handlep, off_t offset, int whence);
+
+	/**
+	 * Perform an ioctl operation on the device.
+	 *
+	 * The default implementation handles DIOC_GETPRIV, and otherwise
+	 * returns -ENOTTY. Subclasses should call the default implementation
+	 * for any command they do not handle themselves.
+	 *
+	 * @param handlep		Pointer to the NuttX file structure.
+	 * @param cmd		The ioctl command value.
+	 * @param arg		The ioctl argument value.
+	 * @return		OK on success, or -errno otherwise.
+	 */
+	virtual int	ioctl(px4_dev_handle_t *handlep, int cmd, unsigned long arg);
+
+protected:
+
+	int register_driver(const char *name, void *data);
+	int unregister_driver(const char *name);
+
+	/**
+	 * Check the current state of the device for poll events from the
+	 * perspective of the file.
+	 *
+	 * This function is called by the default poll() implementation when
+	 * a poll is set up to determine whether the poll should return immediately.
+	 *
+	 * The default implementation returns no events.
+	 *
+	 * @param handlep		The file that's interested.
+	 * @return		The current set of poll events.
+	 */
+	virtual pollevent_t poll_state(px4_dev_handle_t *handlep);
+
+	/**
+	 * Report new poll events.
+	 *
+	 * This function should be called anytime the state of the device changes
+	 * in a fashion that might be interesting to a poll waiter.
+	 *
+	 * @param events	The new event(s) being announced.
+	 */
+	virtual void	poll_notify(pollevent_t events);
+
+	/**
+	 * Internal implementation of poll_notify.
+	 *
+	 * @param fds		A poll waiter to notify.
+	 * @param events	The event(s) to send to the waiter.
+	 */
+	virtual void	poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events);
+
+	/**
+	 * Notification of the first open.
+	 *
+	 * This function is called when the device open count transitions from zero
+	 * to one.  The driver lock is held for the duration of the call.
+	 *
+	 * The default implementation returns OK.
+	 *
+	 * @param handlep		Pointer to the NuttX file structure.
+	 * @return		OK if the open should proceed, -errno otherwise.
+	 */
+	virtual int	open_first(px4_dev_handle_t *handlep);
+
+	/**
+	 * Notification of the last close.
+	 *
+	 * This function is called when the device open count transitions from
+	 * one to zero.  The driver lock is held for the duration of the call.
+	 *
+	 * The default implementation returns OK.
+	 *
+	 * @param handlep		Pointer to the NuttX file structure.
+	 * @return		OK if the open should return OK, -errno otherwise.
+	 */
+	virtual int	close_last(px4_dev_handle_t *handlep);
+
+        /**
+	 * Register a class device name, automatically adding device
+	 * class instance suffix if need be.
+	 *
+	 * @param class_devname   Device class name
+	 * @return class_instamce Class instance created, or -errno on failure
+	 */
+	virtual int register_class_devname(const char *class_devname);
+
+        /**
+	 * Register a class device name, automatically adding device
+	 * class instance suffix if need be.
+	 *
+	 * @param class_devname   Device class name
+	 * @param class_instance  Device class instance from register_class_devname()
+	 * @return		  OK on success, -errno otherwise
+	 */
+	virtual int unregister_class_devname(const char *class_devname, unsigned class_instance);
+
+	/**
+	 * Get the device name.
+	 *
+	 * @return the file system string of the device handle
+	 */
+	const char*	get_devname() { return _devname; }
+
+	bool		_pub_blocked;		/**< true if publishing should be blocked */
+
+private:
+	static const unsigned _max_pollwaiters = 8;
+
+	const char	*_devname;		/**< device node name */
+	bool		_registered;		/**< true if device name was registered */
+	unsigned	_open_count;		/**< number of successful opens */
+
+	px4_pollfd_struct_t	*_pollset[_max_pollwaiters];
+
+	/**
+	 * Store a pollwaiter in a slot where we can find it later.
+	 *
+	 * Expands the pollset as required.  Must be called with the driver locked.
+	 *
+	 * @return		OK, or -errno on error.
+	 */
+	int		store_poll_waiter(px4_pollfd_struct_t *fds);
+
+	/**
+	 * Remove a poll waiter.
+	 *
+	 * @return		OK, or -errno on error.
+	 */
+	int		remove_poll_waiter(px4_pollfd_struct_t *fds);
+
+	/* do not allow copying this class */
+	CDev(const CDev&);
+	CDev operator=(const CDev&);
+};
+
+/**
+ * Abstract class for character device accessed via PIO
+ */
+class __EXPORT PIO : public CDev
+{
+public:
+	/**
+	 * Constructor
+	 *
+	 * @param name		Driver name
+	 * @param devname	Device node name
+	 * @param base		Base address of the device PIO area
+	 * @param irq		Interrupt assigned to the device (or zero if none)
+	 */
+	PIO(const char *name,
+	    const char *devname,
+	    unsigned long base
+	    );
+	virtual ~PIO();
+
+	virtual int	init();
+
+protected:
+
+	/**
+	 * Read a register
+	 *
+	 * @param offset	Register offset in bytes from the base address.
+	 */
+	uint32_t	reg(uint32_t offset) {
+		return *(volatile uint32_t *)(_base + offset);
+	}
+
+	/**
+	 * Write a register
+	 *
+	 * @param offset	Register offset in bytes from the base address.
+	 * @param value	Value to write.
+	 */
+	void		reg(uint32_t offset, uint32_t value) {
+		*(volatile uint32_t *)(_base + offset) = value;
+	}
+
+	/**
+	 * Modify a register
+	 *
+	 * Note that there is a risk of a race during the read/modify/write cycle
+	 * that must be taken care of by the caller.
+	 *
+	 * @param offset	Register offset in bytes from the base address.
+	 * @param clearbits	Bits to clear in the register
+	 * @param setbits	Bits to set in the register
+	 */
+	void		modify(uint32_t offset, uint32_t clearbits, uint32_t setbits) {
+		uint32_t val = reg(offset);
+		val &= ~clearbits;
+		val |= setbits;
+		reg(offset, val);
+	}
+
+private:
+	unsigned long	_base;
+};
+
+} // namespace device
+
+// class instance for primary driver of each class
+enum CLASS_DEVICE {
+	CLASS_DEVICE_PRIMARY=0,
+	CLASS_DEVICE_SECONDARY=1,
+	CLASS_DEVICE_TERTIARY=2
+};
+

src/platforms/linux/vcdev_test/module.mk

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Publisher Example Application
+#
+
+MODULE_COMMAND	= vcdevtest
+
+SRCS		= vcdevtest_main.cpp \
+		  vcdevtest_start_linux.cpp \
+		  vcdevtest_example.cpp
+

src/platforms/linux/vcdev_test/vcdevtest_example.cpp

@@ -0,0 +1,150 @@
+
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vcdevtest_example.cpp
+ * Example for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+
+#include "vcdevtest_example.h"
+#include "drivers/device/device.h"
+#include <unistd.h>
+#include <stdio.h>
+
+px4::AppMgr VCDevExample::mgr;
+
+using namespace device;
+
+#define TESTDEV "/dev/vdevex"
+
+class VCDevNode : public CDev {
+public:
+	VCDevNode() : CDev("vcdevtest", TESTDEV) {};
+
+	~VCDevNode() {}
+};
+
+VCDevExample::~VCDevExample() {
+	if (_node) {
+		delete _node;
+		_node = 0;
+	}
+}
+
+int test_pub_block(int fd, unsigned long blocked)
+{
+	int ret = px4_ioctl(fd, PX4_DEVIOCSPUBBLOCK, blocked);
+	if (ret < 0) {
+		printf("ioctl PX4_DEVIOCSPUBBLOCK failed %d %d", ret, px4_errno);
+		return -px4_errno;
+	}
+
+	ret = px4_ioctl(fd, PX4_DEVIOCGPUBBLOCK, 0);
+	if (ret < 0) {
+		printf("ioctl PX4_DEVIOCGPUBBLOCK failed %d %d", ret, px4_errno);
+		return -px4_errno;
+	}
+	printf("pub_blocked = %d %s\n", ret, (unsigned long)ret == blocked ? "PASS" : "FAIL");
+
+	return 0;
+}
+
+int VCDevExample::main()
+{
+	mgr.setRunning(true);
+
+	_node = new VCDevNode();
+
+	if (_node == 0) {
+		printf("Failed to allocate VCDevNode\n");
+		return -ENOMEM;
+	}
+
+	if (_node->init() != PX4_OK) {
+		printf("Failed to init VCDevNode\n");
+		return 1;
+	}
+
+	int fd = px4_open(TESTDEV, PX4_F_RDONLY);
+
+	if (fd < 0) {
+		printf("Open failed %d %d", fd, px4_errno);
+		return -px4_errno;
+	}
+
+	void *p = 0;
+	int ret = px4_ioctl(fd, PX4_DIOC_GETPRIV, (unsigned long)&p);
+	if (ret < 0) {
+		printf("ioctl PX4_DIOC_GETPRIV failed %d %d", ret, px4_errno);
+		return -px4_errno;
+	}
+	printf("priv data = %p %s\n", p, p == (void *)_node ? "PASS" : "FAIL");
+
+	ret = test_pub_block(fd, 1);
+	if (ret < 0)
+		return ret;
+	ret = test_pub_block(fd, 0);
+	if (ret < 0)
+		return ret;
+
+	int i=0;
+	px4_pollfd_struct_t fds[1];
+
+	while (!mgr.exitRequested() && i<5) {
+		sleep(2);
+
+		printf("  polling...\n");
+		fds[0].fd = fd;
+		fds[0].events = POLLIN;
+		fds[0].revents = 0;
+
+		ret = px4_poll(fds, 1, 500);
+		if (ret < 0) {
+			printf("poll failed %d %d\n", ret, px4_errno);
+			px4_close(fd);
+		} 
+		else if (ret == 0)
+			printf("  Nothing to read\n");
+		else {
+			printf("  %d to read\n", ret);
+		}
+		printf("  Doing work...\n");
+		++i;
+	}
+	px4_close(fd);
+
+	return 0;
+}

src/platforms/linux/vcdev_test/vcdevtest_example.h

@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vcdevtest_example.h
+ * Example app for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+#pragma once
+
+#include <px4_app.h>
+
+class VCDevNode;
+
+class VCDevExample {
+public:
+	VCDevExample() : _node(0) {};
+
+	~VCDevExample();
+
+	int main();
+
+	static px4::AppMgr mgr; /* Manage requests to terminate app */
+
+private:
+	VCDevNode *_node;
+};

src/platforms/linux/vcdev_test/vcdevtest_main.cpp

@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vcdevtest_main.cpp
+ * Example for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+#include <px4_middleware.h>
+#include <px4_app.h>
+#include "vcdevtest_example.h"
+#include <stdio.h>
+
+int PX4_MAIN(int argc, char **argv)
+{
+	px4::init(argc, argv, "vcdevtest");
+
+	printf("vcdevtest\n");
+	VCDevExample vcdevtest;
+	vcdevtest.main();
+
+	printf("goodbye\n");
+	return 0;
+}

src/platforms/linux/vcdev_test/vcdevtest_start_linux.cpp

@@ -0,0 +1,100 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vcdevtest_start_linux.cpp
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ * @author Mark Charlebois <mcharleb@gmail.com>
+ */
+#include "vcdevtest_example.h"
+#include <px4_app.h>
+#include <px4_tasks.h>
+#include <stdio.h>
+#include <string.h>
+#include <sched.h>
+
+#define SCHED_DEFAULT	SCHED_FIFO
+#define SCHED_PRIORITY_MAX sched_get_priority_max(SCHED_FIFO)
+#define SCHED_PRIORITY_DEFAULT sched_get_priority_max(SCHED_FIFO)
+
+static int daemon_task;             /* Handle of deamon task / thread */
+
+//using namespace px4;
+
+extern "C" __EXPORT int vcdevtest_main(int argc, char *argv[]);
+int vcdevtest_main(int argc, char *argv[])
+{
+	
+	if (argc < 2) {
+		printf("usage: vcdevtest {start|stop|status}\n");
+		return 1;
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (VCDevExample::mgr.isRunning()) {
+			printf("already running\n");
+			/* this is not an error */
+			return 0;
+		}
+
+		daemon_task = px4_task_spawn_cmd("vcdevtest",
+				       SCHED_DEFAULT,
+				       SCHED_PRIORITY_MAX - 5,
+				       2000,
+				       PX4_MAIN,
+				       (argv) ? (char* const*)&argv[2] : (char* const*)NULL);
+
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		VCDevExample::mgr.requestExit();
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (VCDevExample::mgr.isRunning()) {
+			printf("is running\n");
+
+		} else {
+			printf("not started\n");
+		}
+
+		return 0;
+	}
+
+	printf("usage: vcdevtest_main {start|stop|status}\n");
+	return 1;
+}

src/platforms/px4_posix.h

@@ -47,6 +47,13 @@
 #define  PX4_F_RDONLY 1
 #define  PX4_F_WRONLY 2
 
+#define PX4_DIOC_GETPRIV        1
+#define PX4_DEVIOCSPUBBLOCK     2
+#define PX4_DEVIOCGPUBBLOCK     3
+
+#define PX4_ERROR  (-1)
+#define PX4_OK  0
+
 __BEGIN_DECLS
 
 extern int px4_errno;